# order is:
# Heading
# Position
# Orientation
# Velocity
# AngularVelocity

# Relative Orientation
# Relative Angular Velocity
#----------------

# Heading
0.000254

# Root(pelvis)
0 1.028459 0
0.999936 -0.002209 0.000000 -0.011102
0.102327 0.003655 0.002996
0.000761 0.034709 -0.020418

# pelvis_torso
0.999687 0.022540 0.008965 0.006187
0.077098 -0.238286 0.011848

# lHip
0.996096 -0.087722 -0.000026 -0.009918
1.406622 -0.029626 0.159588

# rHip
0.999276 0.008616 0.004518 0.036790
0.009006 -0.028941 -0.100850

# torso_head
0.999863 0.016380 -0.000773 0.002256
-0.009468 -0.003027 -0.003827

# lShoulder
0.699703 -0.011658 -0.011552 -0.714245
-0.436144 0.001632 0.018917

# rShoulder
0.714002 0.008139 -0.008715 0.700043
0.436161 0.009013 0.000030

# lKnee
0.978124 0.208021 0.000000 -0.000000
-3.601261 0.000123 -0.000005

# rKnee
1.000000 0.000004 -0.000000 -0.000000
-0.017706 -0.000001 -0.000000

# lElbow
0.999953 -0.000000 -0.009719 0.000000
-0.000001 -0.286975 0.000016

# rElbow
0.999985 -0.000000 0.005499 -0.000000
-0.000001 -0.592009 -0.000028

# lAnkle
0.995549 -0.091910 -0.001918 0.020774
1.571490 0.065700 -0.148266

# rAnkle
0.999650 -0.006338 0.000163 -0.025702
0.116637 -0.006012 0.331566

# lToeJoint
0.999998 0.001813 -0.000000 0.000000
0.035157 -0.000000 0.000001

# rToeJoint
0.999607 -0.028016 0.000000 0.000000
-0.205025 0.000017 0.000000

